Positioning Method, Positioning Apparatus of Mobile Device and Electronic Device

ABSTRACT

A positioning method of a mobile device includes: determining a first position and orientation parameter of a mobile device when a current frame image is captured, and determining a straight line corresponding to a preset sign in the current frame image; determining a plurality of second position and orientation parameters based on the first position and orientation parameter; determining, in a high-definition map, point cloud data within a preset range of a geographic location when the current frame image is captured; converting the point cloud data within the preset range into a pixel plane-coordinate system to obtain a plurality of second image coordinate sets; determining, based on distances from image coordinates in the plurality of second image coordinate sets to the straight line, a position and orientation parameter of the mobile device when the current frame image is captured among the plurality of second position and orientation parameters.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority to Chinese Patent Application No.201811548924.X, filed on Dec. 18, 2018, which is hereby incorporated byreference in its entirety.

TECHNICAL FIELD

The present application relates to the field of image processingtechnologies, in particular to a positioning method and a positioningapparatus of a mobile device, and an electronic device.

BACKGROUND

As one of the basic technologies of smart science and technologies,positioning technology is of great importance obviously. Especially inthe field of autonomous driving, accuracy and rapidity of thepositioning technology are important factors related to personal safety.However, the existing laser radar positioning technology is costly, inspite of its high accuracy.

SUMMARY

In order to solve the above technical problems, a positioning method anda positioning apparatus of a mobile device, and an electronic device areprovided according to embodiments of the present application.

According to an aspect, an embodiment of the present applicationprovides a positioning method of a mobile device. The positioning methodof the mobile device includes: determining a first position andorientation parameter of a mobile device when a current frame image iscaptured, and determining a straight line corresponding to a preset signin the current frame image; determining a plurality of second positionand orientation parameters based on the first position and orientationparameter; determining, in a high-definition map, point cloud datawithin a preset range of a geographic location of the mobile device whenthe current frame image is captured; converting, based on the pluralityof second position and orientation parameters, the point cloud datawithin the preset range into a pixel plane-coordinate system to obtain aplurality of second image coordinate sets; determining, based ondistances from image coordinates in the plurality of second imagecoordinate sets to the straight line, a position and orientationparameter of the mobile device when the current frame image is capturedamong the plurality of second position and orientation parameters.

According to another aspect, an embodiment of the present applicationprovides a positioning apparatus of a mobile device. The positioningapparatus of the mobile device includes: a first position andorientation parameter determining module, configured to determine afirst position and orientation parameter of a mobile device when acurrent frame image is captured, and determine a straight linecorresponding to a preset sign in the current frame image; a secondposition and orientation parameter determining module, configured todetermine a plurality of second position and orientation parametersbased on the first position and orientation parameter; a point clouddata determining module, configured to determine, in a high-definitionmap, point cloud data within a preset range of a geographic location ofthe mobile device when the current frame image is captured; a secondimage coordinate set determining module, configured to convert, based onthe plurality of second position and orientation parameters, the pointcloud data within the preset range into a pixel plane-coordinate systemto obtain a plurality of second image coordinate sets; a position andorientation parameter determining module, configured to determine, basedon distances from image coordinates in the plurality of second imagecoordinate sets to the straight line, a position and orientationparameter of the mobile device when the current frame image is capturedamong the plurality of second position and orientation parameters.

In the positioning method of the mobile device according to theembodiments of the present application, the position and orientationparameter of the mobile device when the current frame image is capturedmay be determined according to the distances to the straight line fromthe point cloud data of the high-definition map, corresponding to thepreset sign, in the current frame image, thereby positioning of themobile device is realized based on the vision camera technology.Compared with the existing positioning method by using the laser radarpositioning technology, the positioning may be realized without usingreal-time reflection values of the laser radar in the positioning methodmentioned in the embodiments of the present application. Therefore, aninfluence of environmental conditions, such as illumination, seasons anddynamic objects on positioning accuracy may be greatly reduced, therebythe positioning accuracy may be improved according to the positioningmethod mentioned in the embodiments of the present application. Inaddition, positioning costs may be greatly reduced by means of thevision camera in the embodiments of the present application.

BRIEF DESCRIPTION OF DRAWINGS

The above and other objects, features and advantages of the presentapplication may become more apparent according to the more detaileddescription of embodiments of the present application in combinationwith accompanying drawings. The accompanying drawings are configured toprovide a further understanding of the embodiments of the presentapplication, and constitute a part of the specification. Theaccompanying drawings, together with the embodiments of the presentapplication, are configured to explain the present application, withoutlimiting the present application. In the accompanying drawings, the samereference numerals generally refer to the same parts or steps.

FIG. 1 shows a scene applicable to the present application.

FIG. 2 shows a schematic flowchart of a positioning method of a mobiledevice according to an exemplary embodiment of the present application.

FIG. 3 shows a schematic flowchart of determining a position andorientation parameter of a mobile device when a current frame image iscaptured according to another exemplary embodiment of the presentapplication.

FIG. 4 shows a schematic flowchart of determining distances to astraight line from image coordinates, corresponding to a preset sign, ina second image coordinate set according to still another exemplaryembodiment of the present application.

FIG. 5 shows a schematic flowchart of determining a position andorientation parameter of a mobile device when a current frame image iscaptured according to yet still another exemplary embodiment of thepresent application.

FIG. 6 shows a schematic flowchart of determining point cloud datawithin a preset range of a geographic location of a mobile device when acurrent frame image is captured according to yet still another exemplaryembodiment of the present application.

FIG. 7 shows a schematic structural diagram of a positioning apparatusof a mobile device according to an exemplary embodiment of the presentapplication.

FIG. 8 shows a schematic structural diagram of a position andorientation parameter determining module of a positioning apparatus of amobile device according to another exemplary embodiment of the presentapplication.

FIG. 9 shows a schematic structural diagram of a distance determiningunit of a positioning apparatus of a mobile device according to stillanother exemplary embodiment of the present application.

FIG. 10 shows a schematic structural diagram of a position andorientation parameter determining unit of a positioning apparatus of amobile device according to yet still another exemplary embodiment of thepresent application.

FIG. 11 shows a schematic structural diagram of a point cloud datadetermining module of a positioning apparatus of a mobile deviceaccording to yet still another exemplary embodiment of the presentapplication.

FIG. 12 shows a schematic structural diagram of an electronic deviceaccording to an exemplary embodiment of the present application.

DETAILED DESCRIPTION

Hereinafter, exemplary embodiments of the present application may bedescribed in detail with reference to accompanying drawings. Obviously,the described embodiments are only a part of the embodiments of thepresent application, but not all of the embodiments. It may beunderstood that the present application is not limited by the exemplaryembodiments described herein.

Application Overview

Positioning accuracy and positioning speed are important indicators formeasuring performance of positioning technology. Especially forpositioning technology applied to the field of autonomous driving, thepositioning accuracy and the positioning speed are important factorsrelated to personal safety.

Currently, laser radar positioning technology is usually used as thepositioning technology in the field of autonomous driving. A positioningprinciple of the laser radar positioning technology is shown as follows.Firstly, a high-definition map is generated based on the laser radartechnology, then a detection signal (laser beam) is transmitted to atarget and a signal reflected by the target (target echo) is received.Information related to the target, such as target distance, orientation,altitude, speed, pose and even shape, is obtained by comparing thereflected signal with the transmitted detection signal in combinationwith the generated high-definition map. However, the laser radarpositioning technology is extremely costly, in spite of its highpositioning accuracy.

In contrast, a vision camera gets more attention due to its low price.However, since depth information may not be directly obtained by thevision camera, positioning accuracy of vision camera positioningtechnology is much less than the positioning accuracy of the laser radarpositioning technology.

In view of the above technical problems, a basic conception of thepresent application is to provide a positioning method and a positioningapparatus of a mobile device, and an electronic device. In thepositioning method of the mobile device according to the embodiments ofthe present application, by means of determining a rough position andorientation parameter of the mobile device when a current frame image iscaptured and a straight line corresponding to a preset sign in thecurrent frame image, determining a plurality of hypothetical positionand orientation parameters based on the rough position and orientationparameter, and then obtaining point cloud data within a preset rangecorresponding to a geographic location of the mobile device when thecurrent frame image is captured in a high-definition map, converting thepoint cloud data within the preset range into a pixel plane-coordinatesystem in combination with the plurality of hypothetical position andorientation parameters to obtain a plurality of image coordinate sets,and calculating distances from the image coordinates in the plurality ofimage coordinate sets to the straight line to determine a position andorientation parameter of the mobile device when the current frame imageis captured, positioning of the mobile device is realized based on thevision camera technology.

Compared with the existing positioning method by using the laser radarpositioning technology, the positioning may be realized without usingreal-time reflection values of the laser radar in the positioning methodmentioned in the embodiments of the present application. Therefore, aninfluence of environmental conditions, such as illumination, seasons anddynamic objects on positioning accuracy may be greatly reduced, therebythe positioning accuracy may be improved according to the positioningmethod mentioned in the embodiments of the present application. Inaddition, positioning costs may be greatly reduced by means of thevision camera in the embodiments of the present application.

It may be noted that an application scope of the present application isnot limited to the field of autonomous driving. For example, technicalsolutions mentioned in the embodiments of the present application mayalso be applied to other smart mobile devices (such as smart robots) toprovide positioning technical support for moving functions of the smartmobile devices.

After a basic principle of the present application is introduced,various non-limiting embodiments of the present application may bedescribed below in detail with reference to the accompanying drawings.

Exemplary Systems

FIG. 1 shows a scene applicable to the present application. As shown inFIG. 1, the scene applicable to the present application refers to apositioning scene of a mobile device. The positioning scene includes aserver 1 and a mobile device 2. The server 1 is configured to acquire acurrent frame image captured by the mobile device 2 and high-definitionmap data, and perform a positioning operation based on the acquireddata.

Specifically, the server 1 is configured to determine a rough positionand orientation parameter of the mobile device 2 when the current frameimage is captured, and determine a straight line corresponding to apreset sign in the current frame image, then generate a plurality ofhypothetical position and orientation parameters based on the roughposition and orientation parameter, and obtain point cloud data within apreset range corresponding to a geographic location of the mobile device2 when the current frame image is captured in the high-definition map,and convert, based on the plurality of hypothetical position andorientation parameters, the point cloud data within the preset rangeinto a pixel plane-coordinate system to obtain a plurality of imagecoordinate sets, and finally determine a position and orientationparameter of the mobile device when the current frame image is capturedby means of calculating distances from image coordinates in theplurality of image coordinate sets to the straight line. The mobiledevice 2 is configured to capture the current frame image. With thisscene, calculation amount of the mobile device 2 may be reduced.

It may be noted that another scene may be applicable to the presentapplication. Specifically, this positioning scene includes the mobiledevice 2. The mobile device 2 is configured to capture the current frameimage and obtain the high-definition map data, and determine a roughposition and orientation parameter of the mobile device 2 when thecurrent frame image is captured, and determine a straight linecorresponding to a preset sign in the current frame image, then generatea plurality of hypothetical position and orientation parameters based onthe rough position and orientation parameter, and obtain point clouddata within a preset range corresponding to a geographic location of themobile device 2 when the current frame image is captured in thehigh-definition map, and convert, based on the plurality of hypotheticalposition and orientation parameters, the point cloud data within thepreset range into a pixel plane-coordinate system to obtain a pluralityof image coordinate sets, and finally determine a position andorientation parameter of the mobile device when the current frame imageis captured by means of calculating distances from image coordinates inthe plurality of image coordinate sets to the straight line. The mobiledevice 2 is configured to capture the current frame image. With thisscene, the mobile device 2 may be positioned in real time.

Exemplary Methods

FIG. 2 shows a schematic flowchart of a positioning method of a mobiledevice according to an exemplary embodiment of the present application.The positioning method of the mobile device according to the embodimentsof the present application may be applied to the field of autonomousdriving of vehicles, and may also be applied to the field of movingfunctions of smart robots. As shown in FIG. 2, the positioning method ofthe mobile device according to the embodiment of the present applicationincludes the following steps.

Step 10: determining a first position and orientation parameter of amobile device when a current frame image is captured, and determining astraight line corresponding to a preset sign in the current frame image.

It may be noted that the first position and orientation parameter refersto a rough position and orientation parameter of the mobile device whenthe current frame image is captured. The position and orientationparameter includes a position parameter and an orientation parameter.The position parameter includes geographic location data of the mobiledevice. The orientation parameter includes azimuth angle data, pitchangle data and roll angle data of the mobile device.

It may be noted that the current frame image refers to a current frameimage related to surrounding environment where the mobile device islocated. For example, the mobile device refers to a vehicle, and acamera is installed in a cab of the vehicle or on an outer side of thevehicle body. When the mobile device is required to be positioned, thecamera on the vehicle performs a shooting operation to capture the image(i.e., the current frame image) related to the surrounding environmentwhere the vehicle is located. It may be understood that the vehicleitself may be or may be not included in the captured current frameimage, which is not limited in the embodiments of the presentapplication.

In addition, it may be noted that the straight line corresponding to thepreset sign in the current frame image mentioned in step 10 refers to astraight line corresponding to a preset sign in the current frame image.

For example, in an embodiment of the present application, thepositioning method of the mobile device is applied to the field ofautonomous driving of vehicles, and the captured current frame imageincludes a road lane line. Then, the road lane line is set as the presetsign, and the straight line corresponding to the preset sign refers to astraight line corresponding to the road lane line, such as an edge line.As another example, the positioning method of the mobile device isapplied to the field of autonomous driving of vehicles, and the capturedcurrent frame image includes a road stop line. Then, the road stop lineis set as the preset sign, and the straight line corresponding to thepreset sign refers to a straight line corresponding to the road stopline, such as an edge line. It may be understood that when thepositioning method of the mobile device is applied to the field ofautonomous driving of vehicles, the preset sign may also be other roadsigns, which is not limited in the embodiments of the presentapplication.

It may be noted that the road lane line and the road stop line have goodstability and are less affected by light, season, angle and so on.Therefore, by means of selecting the preset sign as the road lane lineor the road stop line with relatively high stability, accuracy ofsubsequently calculating distances from image coordinates in a secondimage coordinate set to the straight line may be improved. Thereby,accuracy of the final determined position and orientation parameter ofthe mobile device may be improved. That is, positioning accuracy may beimproved.

Step 20: determining a plurality of second position and orientationparameters based on the first position and orientation parameter.

Step 30: determining, in a high-definition map, point cloud data withina preset range of a geographic location of the mobile device when thecurrent frame image is captured.

The high-definition map refers to a map which may assist in thecompletion of the positioning technology, such as a map generated basedon the laser radar technology.

It may be noted that the point cloud data refers to the point cloud datawithin the preset range of the geographic location of the mobile devicewhen the current frame image is captured. That is, a geographic locationcorresponding to the point cloud data corresponds to the geographiclocation of the mobile device when the current frame image is captured.

Step 40: converting, based on the plurality of second position andorientation parameters, the point cloud data within the preset rangeinto a pixel plane-coordinate system to obtain a plurality of secondimage coordinate sets.

In step 40, the pixel plane-coordinate system includes information ofthe point cloud data, such as attribute information and grayscaleinformation.

Step 50: determining, based on distances from image coordinates in theplurality of second image coordinate sets to the straight line, aposition and orientation parameter of the mobile device when the currentframe image is captured among the plurality of second position andorientation parameters.

In a process of practical application, firstly the first position andorientation parameter of the mobile device when the current frame imageis captured is determined, and the straight line corresponding to thepreset sign in the current frame image is determined, and the pluralityof second position and orientation parameters are determined based onthe first position and orientation parameter, and then in thehigh-definition map, the point cloud data within the preset range of thegeographic location of the mobile device when the current frame image iscaptured is determined, and based on the plurality of second positionand orientation parameters, the point cloud data within the preset rangeis converted into the pixel plane-coordinate system to obtain theplurality of second image coordinate sets, finally based on thedistances from the image coordinates in the plurality of second imagecoordinate sets to the straight line, the position and orientationparameter of the mobile device when the current frame image is capturedis determined among the plurality of second position and orientationparameters.

In the positioning method of the mobile device according to theembodiments of the present application, by means of determining therough position and orientation parameter of the mobile device when thecurrent frame image is captured and the straight line corresponding tothe preset sign in the current frame image, determining the plurality ofhypothetical position and orientation parameters based on the roughposition and orientation parameter, and then obtaining the point clouddata within the preset range corresponding to the geographic location ofthe mobile device when the current frame image is captured in thehigh-definition map, converting the point cloud data within the presetrange into the pixel plane-coordinate system in combination with theplurality of hypothetical position and orientation parameters to obtainthe plurality of image coordinate sets, and calculating the distancesfrom the image coordinates in the plurality of image coordinate sets tothe straight line to determine the position and orientation parameter ofthe mobile device when the current frame image is captured, positioningof the mobile device is realized based on the vision camera technology.

Compared with the existing positioning method by using the laser radarpositioning technology, the positioning may be realized without usingreal-time reflection values of the laser radar in the positioning methodmentioned in the embodiments of the present application. Therefore, aninfluence of environmental conditions, such as illumination, seasons anddynamic objects on positioning accuracy may be greatly reduced, therebythe positioning accuracy may be improved according to the positioningmethod mentioned in the embodiments of the present application. Inaddition, positioning costs may be greatly reduced by means of thevision camera in the embodiments of the present application.

In an embodiment of the present application, the first position andorientation parameter of the mobile device is determined based onhistorical motion data of the mobile device. The historical motion dataincludes a historical position and orientation parameter and motiontendency data when the mobile device is lastly positioned successfully.Specifically, the historical position and orientation parameter includesa position parameter and an orientation parameter when the mobile deviceis lastly positioned successfully. The motion tendency data includesdata which may represent motion tendency of the mobile device, such asspeed data. It may be understood that the rough position and orientationparameter (i.e., the first position and orientation parameter) of themobile device when the current frame image is captured may be estimatedby using the historical motion data when the mobile device is lastlypositioned successfully. Compared with other methods of determining therough position and orientation parameter, the method of determining therough position and orientation parameter (the first position andorientation parameter) by using the historical motion data of the mobiledevice according to the embodiment of the present application may obtainthe rough position and orientation parameter with higher accuracy, whichbenefits improvement of the accuracy in subsequent positioning steps.

In an embodiment of the present application, based on the first positionand orientation parameter, the plurality of second position andorientation parameters are determined in a manner of increasing a presetstep successively. It may be noted that a specific value of the presetstep may be set according to an actual situation, which is not limitedin the embodiments of the present application.

For example, the first position and orientation parameter of the mobiledevice when the current frame image is captured is configured as aposition and orientation matrix X, and the plurality of second positionand orientation parameters are configured as position and orientationmatrices Y₁, Y₂, Y₃ . . . Y_(n), respectively. Then, since the secondposition and orientation parameters are determined based on the firstposition and orientation parameter, and the position and orientationparameter includes the position parameter and the orientation parameter,a relationship between the first position and orientation parameter andeach of the second position and orientation parameters may berepresented by using a rotation matrix R and a translation matrix T. Aspecific formula is shown as follows.

Y _(i) =R _(i) X+T _(i)   (1)

In Formula (1), i=1, 2 . . . n. A preset step of the rotation matrix isconfigured as a matrix ΔR, and a preset step of the translation matrixis configured as ΔT, then R_(i)=R_(i−1)+ΔR, T_(i)=T_(i−1)+ΔT. It may beunderstood that specific values of ΔR and ΔT may be set according to anactual situation, which is not limited in the embodiments of the presentapplication.

That is, by using the above-mentioned formula, the plurality of secondposition and orientation parameters may be determined in the manner ofincreasing the preset step successively based on the first position andorientation parameter. That is, the plurality of hypothetical positionand orientation parameters may be determined in the manner of increasingthe preset step successively based on the rough position and orientationparameter.

Another embodiment of the present application is extended on the basisof the above embodiments of the present application. In anotherembodiment of the present application, the plurality of second positionand orientation parameters are determined in a manner of decreasing apreset step successively based on the first position and orientationparameter. Differences between the embodiment of the present applicationand the above embodiments are mainly described below, and similaritiesare not described again.

Specifically, in the embodiment of the present application, based on thefirst position and orientation parameter, the plurality of secondposition and orientation parameters are determined in the manner ofdecreasing the preset step successively. When calculation is performedby using Formula (1) in the above embodiments, R_(i) and T_(i) inFormula (1) are replaced with R_(i)=R_(i−1)−ΔR and T_(i)=T_(i−1)−ΔTrespectively. Similarly, it may be understood that the specific valuesof ΔR and ΔT may be set according to the actual situation, which is notlimited in the embodiments of the present application.

That is, in a solution of determining the second position andorientation parameters mentioned in the embodiment of the presentapplication, the plurality of second position and orientation parametersare determined in the manner of decreasing the preset step successivelybased on the first position and orientation parameter. That is, theplurality of hypothetical position and orientation parameters may bedetermined in the manner of decreasing the preset step successivelybased on the rough position and orientation parameter.

It may be noted that, in the solution of determining the plurality ofhypothetical position and orientation parameters by increasing ordecreasing the preset step successively mentioned in the aboveembodiments, accuracy probabilities of the hypothetical position andorientation parameters may be adequately ensured. That is to say,compared with randomly setting the hypothetical position and orientationparameters, the above embodiments of the present application maysufficiently prevent correct or approximately correct position andorientation parameters from being missed, and thus from being failed tobe listed as hypothetical position and orientation parameters. Thereby asuccess rate of the positioning operation may be greatly improved.

Based on the solution of determining the second position and orientationparameters in the manner of increasing or decreasing the preset stepsuccessively mentioned in the above embodiments, the second position andorientation parameters may also be determined in a manner of combinationof increasing the preset step successively and decreasing the presetstep successively. That is, according to an actual situation, the secondposition and orientation parameters are determined in a manner ofcombination of increasing the preset step successively and decreasingthe preset step successively based on the first position and orientationparameter.

For example, in the process of determining the second position andorientation parameters, a step of increasing the preset stepsuccessively and a step of decreasing the preset step successively areboth included. In the step of increasing the preset step successively,the preset step of the rotation matrix is configured as a matrix ΔR₁,and the preset step of the translation matrix is configured as a matrixΔT₁. In the step of decreasing the preset step successively, the presetstep of the rotation matrix is configured as a matrix ΔR₂, and thepreset step of the translation matrix is configured as a matrix ΔT₂.Therefore, in the actual process of determining the second position andorientation parameters, firstly a plurality of second position andorientation parameters are generated in the manner of increasing thepreset step successively based on the first position and orientationparameter, and then a plurality of second position and orientationparameters are generated in the manner of decreasing the preset stepsuccessively based on the first position and orientation parameter.

It may be noted that, in the method of determining the plurality ofhypothetical position and orientation parameters in the manner ofcombination of increasing the preset step successively and decreasingthe preset step successively, the accuracy probabilities of thehypothetical position and orientation parameters may be furtherimproved. For example, when the increased preset step is not equal tothe decreased preset step, and the increased preset step is performedfirstly, and then the decreased preset step is performed successively,prediction density may be further increased, thereby the accuracyprobabilities of the hypothetical position and orientation parametersmay be improved according to the embodiments of the present application.When the increased preset step and the decreased preset step aresimultaneously performed, bidirectional prediction may be implementedbased on the rough position and orientation parameter, thereby theaccuracy probabilities of the hypothetical position and orientationparameters may be improved according to the embodiments of the presentapplication.

FIG. 3 shows a schematic flowchart of determining a position andorientation parameter of a mobile device when a current frame image iscaptured according to another exemplary embodiment of the presentapplication. The embodiment of the present application shown in FIG. 3is extended on the basis of the embodiment of the present applicationshown in FIG. 2. Differences between the embodiment shown in FIG. 3 andthe embodiment shown in FIG. 2 are mainly described below, andsimilarities are not described again.

As shown in FIG. 3, in the positioning method of the mobile deviceaccording to the embodiment of the present application, the determining,based on distances from image coordinates in the plurality of secondimage coordinate sets to the straight line, a position and orientationparameter of the mobile device when the current frame image is capturedamong the plurality of second position and orientation parameters (i.e.,step 50) includes the following steps.

Step 51: determining, for each of a plurality of second image coordinatesets, distances to a straight line from image coordinates, correspondingto a preset sign, in the second image coordinate set.

That is, in the embodiment of the present application, a sum of thecalculated distances to the straight line from the image coordinates,corresponding to the preset sign, in the second image coordinate set isused as a distance from the second image coordinate set to the straightline. It may be noted that the image coordinates corresponding to thepreset sign refer to image coordinates coinciding or forming a fixeddistance with the preset sign in the second image coordinate set. Forexample, the preset sign refers to a road stop line, and the imagecoordinates corresponding to the preset sign may refer to imagecoordinates representing the road stop line in the second imagecoordinate set, or may refer to image coordinates forming a fixeddistance with the road stop line in the second image coordinate set,such as image coordinates corresponding to a pedestrian zebra crossingadjacent to the road stop line.

Step 52: determining, for each of the plurality of second imagecoordinate sets, an accuracy probability of the second position andorientation parameter corresponding to the second image coordinate setbased on the sum of the distances.

Optionally, the accuracy probability of the second position andorientation parameter corresponding to the second image coordinate setis determined based on the following Formula (2).

$\begin{matrix}{P = {\frac{1}{c}*{\exp ( {- d} )}}} & (2)\end{matrix}$

In Formula (2), d represents the sum of the distances to the straightline corresponding to the preset sign from all the image coordinates,corresponding to the preset sign, in the second image coordinate set. Prepresents the accuracy probability of the second position andorientation parameter corresponding to the second image coordinate set.c represents a normalized parameter.

The accuracy probabilities of the plurality of second position andorientation parameters corresponding to the plurality of second imagecoordinate sets may be calculated according to the above step 51 and 52.

Step 53: determining, based on the accuracy probabilities of theplurality of second position and orientation parameters, a position andorientation parameter of the mobile device when the current frame imageis captured.

That is to say, in a process of practical application, firstly a firstposition and orientation parameter of the mobile device when a currentframe image is captured is determined, and the straight linecorresponding to the preset sign in the current frame image isdetermined, and the plurality of second position and orientationparameters are determined based on the first position and orientationparameter, and then in a high-definition map, point cloud data within apreset range of a geographic location of the mobile device when thecurrent frame image is captured is determined, and based on theplurality of second position and orientation parameters, the point clouddata within the preset range is converted into a pixel plane-coordinatesystem to obtain the plurality of second image coordinate sets, and thenfor each of the plurality of second image coordinate sets, the distancesto the straight line from the image coordinates, corresponding to thepreset sign, in the second image coordinate set are determined, finallythe accuracy probability of the second position and orientationparameter corresponding to the second image coordinate set is determinedbased on the sum of the distances, and the position and orientationparameter of the mobile device when the current frame image is capturedis determined based on the accuracy probabilities of the plurality ofsecond position and orientation parameters.

In the positioning method of the mobile device mentioned in theembodiments of the present application, by means of calculating thedistances to the straight line from the image coordinates, correspondingto the preset sign, in each of the second image coordinate sets,determining the accuracy probability of the second position andorientation parameter corresponding to the second image coordinate setbased on the sum of the distances, and finally determining the positionand orientation parameter of the mobile device when the current frameimage is captured based on the accuracy probabilities of the pluralityof second position and orientation parameters, the position andorientation parameter of the mobile device when the current frame imageis captured is determined according to the distances to the preset signfrom the image coordinates, corresponding to the preset sign, in each ofthe second image coordinate sets. In addition, compared with calculatingdistances from all the image coordinates in each of the second imagecoordinate sets to the straight line, the calculating the distances tothe straight line from the image coordinates, corresponding to thepreset sign, in each of the second image coordinate sets mentioned inthe embodiments of the present application may sufficiently reduce aninterference caused by image coordinates (such as trees) greatlyinfluenced by factors such as illumination or seasons on the positioningoperation. Thereby the positioning accuracy may be further improved.

FIG. 4 shows a schematic flowchart of determining distances to astraight line from image coordinates, corresponding to a preset sign, ina second image coordinate set according to still another exemplaryembodiment of the present application. The embodiment of the presentapplication shown in FIG. 4 is extended on the basis of the embodimentof the present application shown in FIG. 3. Differences between theembodiment shown in FIG. 4 and the embodiment shown in FIG. 3. aremainly described below, and similarities are not described again.

As shown in FIG. 4, in the positioning method of the mobile deviceaccording to the embodiment of the present application, the determining,for each of a plurality of second image coordinate sets, distances to astraight line from image coordinates, corresponding to a preset sign, inthe second image coordinate set (i.e., step 51) includes the followingsteps.

Step 511: determining attribute information of point cloud dataconverted into the plurality of second image coordinate sets.

It may be noted that the attribute information of the point cloud datarefers to information which may represent an attribute of the pointcloud data. A specific type of the attribute information is not limitedin the embodiments of the present application. For example, the presetsign refers to a road lane line, the attribute information of thecorresponding point cloud data in the second image coordinate setsrefers to information indicating whether the point cloud data belongs tothe road lane line.

Step 512: determining the image coordinates corresponding to the presetsign in the plurality of second image coordinate sets according to theattribute information of the point cloud data.

Step 513: determining, for each of the second image coordinate sets, thedistances from the image coordinates corresponding to the preset sign tothe straight line.

In the positioning method of the mobile device mentioned in theembodiments of the present application, by means of determining theimage coordinates corresponding to the preset sign in the plurality ofsecond image coordinate sets according to the attribute information ofthe point cloud data, accuracy of the determined image coordinatescorresponding to the preset sign may be further improved. Thereby aprecondition for improving positioning accuracy of the positioningmethod mentioned in the embodiments of the present application isprovided.

FIG. 5 shows a schematic flowchart of determining a position andorientation parameter of a mobile device when a current frame image iscaptured according to yet still another exemplary embodiment of thepresent application. The embodiment of the present application shown inFIG. 5 is extended on the basis of the embodiment of the presentapplication shown in FIG. 3. Differences between the embodiment shown inFIG. 5 and the embodiment shown in FIG. 3 are mainly described below,and similarities are not described again.

As shown in FIG. 5, in the positioning method of the mobile deviceaccording to the embodiment of the present application, the step ofdetermining, based on the accuracy probabilities of the plurality ofsecond position and orientation parameters, a position and orientationparameter of the mobile device when the current frame image is captured(i.e., step 53) includes the following steps.

Step 531: comparing each of the accuracy probabilities of the pluralityof second position and orientation parameters with a preset thresholdparameter.

A specific value of the preset threshold parameter may be set accordingto an actual situation, which is not limited in the embodiments of thepresent application. For example, the preset threshold parameter may be[0.5,1]. That is, the preset threshold parameter includes values between0.5 and 1. For another example, the preset threshold parameter may be[0.7,1]. That is, the preset threshold parameter includes values between0.7 and 1.

Step 532: determining a second position and orientation parameter havinga highest accuracy probability falling within a range of the presetthreshold parameter as the position and orientation parameter of themobile device when the current frame image is captured.

Step 533: determining a third position and orientation parameter of themobile device when the current frame image is re-captured, and startinga positioning operation based on the re-captured current frame image andthe third position and orientation parameter.

It may be noted that the third position and orientation parameter refersto a rough position and orientation parameter of the mobile device whenthe current frame image is re-captured. That is, when none of theaccuracy probabilities of all the second position and orientationparameters falls within the range of the preset threshold parameter, thecurrent frame image is re-captured, and the rough position andorientation parameter of the mobile device is re-determined, thereby thepositioning operation on the mobile device may be restarted.

In a process of practical application, firstly each of the accuracyprobabilities of the plurality of second position and orientationparameters is compared with the preset threshold parameter, when atleast one accuracy probability among the accuracy probabilities of theplurality of second position and orientation parameters falls within therange of the preset threshold parameter, step 532 is executed, i.e., thesecond position and orientation parameter having the highest accuracyprobability falling within the range of the preset threshold parameteris determined as the position and orientation parameter of the mobiledevice when the current frame image is captured, when none of theaccuracy probabilities of all the second position and orientationparameters falls within the range of the preset threshold parameter,step 533 is executed, that is, the third position and orientationparameter of the mobile device when the current frame image isre-captured is determined, and the positioning operation based on there-captured current frame image and the third position and orientationparameter is restarted.

For example, the preset threshold parameter is [0.3,1], there are 4second position and orientation parameters, and the accuracy probabilityof each of the second position and orientation parameters is 0.1, 0.2,0.3, and 0.4 successively. It may be understood that the two secondposition and orientation parameters with the accuracy probabilities of0.3 and 0.4 respectively fall within the range of the preset thresholdparameter. Since 0.4 is greater than 0.3, the second position andorientation parameter with the accuracy probability of 0.4 is consideredas the position and orientation parameter of the mobile device when thecurrent frame image is captured.

In the positioning method of the mobile device according to theembodiments of the present application, by means of comparing each ofthe accuracy probabilities of the second position and orientationparameters with the preset threshold parameter, and determining theposition and orientation parameter of the mobile device when the currentframe image is captured according to comparison results, the accuracyprobabilities of each of the second position and orientation parametersmay be filtered by using the preset threshold parameter, therebypositioning accuracy may be further improved. In addition, in thepositioning method of the mobile device according to the embodiments ofthe present application, a situation that when none of the accuracyprobabilities of all the second position and orientation parametersfalls within the range of the preset threshold parameter, the secondposition and orientation parameter having the highest accuracyprobability is forced to be selected as the position and orientationparameter of the mobile device when the current frame image is capturedmay be avoided, thereby the positioning accuracy may be furtherimproved.

FIG. 6 shows a schematic flowchart of determining point cloud datawithin a preset range of a geographic location of a mobile device when acurrent frame image is captured according to yet still another exemplaryembodiment of the present application. The embodiment of the presentapplication shown in FIG. 6 is extended on the basis of the embodimentof the present application shown in FIG. 2. Differences between theembodiment shown in FIG. 6 and the embodiment shown in FIG. 2 are mainlydescribed below, and similarities are not described again.

As shown in FIG. 6, in the positioning method of the mobile deviceaccording to the embodiments of the present application, thedetermining, in a high-definition map, point cloud data within a presetrange of a geographic location of the mobile device when the currentframe image is captured (i.e., step 30) includes the following steps.

Step 31: determining a position parameter of a first position andorientation parameter of the mobile device, the position parameterindicating a geographic location of the mobile device when the currentframe image is captured.

Step 32: determining point cloud data within a preset range of thegeographic location in the high-definition map as the point cloud datawithin the preset range of the geographic location of the mobile devicewhen the current frame image is captured.

It may be noted that when the high-definition map refers to a mapgenerated based on the laser radar technology, the point cloud dataincludes reflection data of the laser radar. Then, the reflection dataof the laser radar included in the point cloud data may be used asattribute information representing an attribute of the point cloud data.

In a process of practical application, firstly the first position andorientation parameter of the mobile device when the current frame imageis captured is determined, and a straight line corresponding to a presetsign in the current frame image is determined, and a plurality of secondposition and orientation parameters are determined based on the firstposition and orientation parameter, and then the position parameter ofthe first position and orientation parameter of the mobile device isdetermined, the position parameter indicating the geographic location ofthe mobile device when the current frame image is captured, and thepoint cloud data within the preset range of the geographic location inthe high-definition map is determined as the point cloud data within thepreset range of the geographic location of the mobile device when thecurrent frame image is captured, then based on the plurality of secondposition and orientation parameters, the point cloud data within thepreset range is converted into a pixel plane-coordinate system to obtaina plurality of second image coordinate sets, finally based on distancesfrom the image coordinates in the plurality of second image coordinatesets to the straight line, the position and orientation parameter of themobile device when the current frame image is captured is determinedamong the plurality of second position and orientation parameters.

That is, in the positioning method of the mobile device according to theembodiments of the present application, by means of determining thegeographic location of the mobile device when the current frame image iscaptured based on the position parameter of the rough position andorientation parameter of the mobile device when the current frame imageis captured, and determining the point cloud data within the presetrange of the geographic location in the high-definition map as the pointcloud data within the preset range of the geographic location of themobile device when the current frame image is captured, the point clouddata within the geographic location of the mobile device when thecurrent frame image is captured may be acquired. Thereby a preconditionfor the subsequent steps of converting the point cloud data into thepixel plane-coordinate system to obtain the image coordinate sets, anddetermining the position and orientation parameter of the mobile devicewhen the current frame image is captured based on the distances fromimage coordinates in the image coordinate sets to the straight line maybe provided.

Exemplary Apparatuses

FIG. 7 shows a schematic structural diagram of a positioning apparatusof a mobile device according to an exemplary embodiment of the presentapplication. The positioning apparatus of the mobile device according tothe embodiment of the present application may be applied to the field ofautonomous driving of vehicles, and also be applied to the field ofmoving functions of smart robots. As shown in FIG. 7, the positioningapparatus of the mobile device according to the embodiment of thepresent application includes:

-   -   a first position and orientation parameter determining module        100, configured to determine a first position and orientation        parameter of a mobile device when a current frame image is        captured, and determine a straight line corresponding to a        preset sign in the current frame image;    -   a second position and orientation parameter determining module        200, configured to determine a plurality of second position and        orientation parameters based on the first position and        orientation parameter;    -   a point cloud data determining module 300, configured to        determine, in a high-definition map, point cloud data within a        preset range of a geographic location of the mobile device when        the current frame image is captured;    -   a second image coordinate set determining module 400, configured        to convert, based on the plurality of second position and        orientation parameters, the point cloud data within the preset        range into a pixel plane-coordinate system to obtain a plurality        of second image coordinate sets; and    -   a position and orientation parameter determining module 500,        configured to determine, based on distances from image        coordinates in the plurality of second image coordinate sets to        the straight line, a position and orientation parameter of the        mobile device when the current frame image is captured among the        plurality of second position and orientation parameters.

FIG. 8 shows a schematic structural diagram of a position andorientation parameter determining module of a positioning apparatus of amobile device according to another exemplary embodiment of the presentapplication. The embodiment of the present application shown in FIG. 8is extended on the basis of the embodiment of the present applicationshown in FIG. 7. Differences between the embodiment shown in FIG. 8 andthe embodiment shown in FIG. 7 are mainly described below, andsimilarities are not described again.

As shown in FIG. 8, in the positioning apparatus of the mobile deviceaccording to the embodiment of the present application, a position andorientation parameter determining module 500 includes:

-   -   a distance determining unit 510, configured to determine, for        each of a plurality of second image coordinate sets, distances        to a straight line from image coordinates, corresponding to a        preset sign, in the second image coordinate set;    -   an accuracy probability determining unit 520, configured to        determine, for each of the plurality of second image coordinate        sets, an accuracy probability of the second position and        orientation parameter corresponding to the second image        coordinate set based on a sum of the distances; and    -   a position and orientation parameter determining unit 530,        configured to determine, based on the accuracy probabilities of        the plurality of second position and orientation parameters, a        position and orientation parameter of the mobile device when the        current frame image is captured.

FIG. 9 shows a schematic structural diagram of a distance determiningunit of a positioning apparatus of a mobile device according to stillanother exemplary embodiment of the present application. The embodimentof the present application shown in FIG. 9 is extended on the basis ofthe embodiment of the present application shown in FIG. 8. Differencesbetween the embodiment shown in FIG. 9 and the embodiment shown in FIG.8 are mainly described below, and similarities are not described again.

As shown in FIG. 9, in the positioning apparatus of the mobile deviceaccording to the embodiment of the present application, a distancedetermining unit 510 includes:

-   -   an attribute information determining subunit 5110, configured to        determine attribute information of point cloud data converted        into a plurality of second image coordinate sets;    -   an image coordinate determining subunit 5120, configured to        determine image coordinates corresponding to a preset sign in        the plurality of second image coordinate sets according to the        attribute information of the point cloud data; and    -   a distance data determining subunit 5130, configured to        determine, for each of the second image coordinate sets,        distances from the image coordinates corresponding to the preset        sign to the straight line.

FIG. 10 shows a schematic structural diagram of a position andorientation parameter determining unit of a positioning apparatus of amobile device according to yet still another exemplary embodiment of thepresent application. The embodiment of the present application shown inFIG. 10 is extended on the basis of the embodiment of the presentapplication shown in FIG. 8. Differences between the embodiment shown inFIG. 10 and the embodiment shown in FIG. 8 are mainly described below,and similarities are not described again.

As shown in FIG. 10, in the positioning apparatus of the mobile deviceaccording to the embodiment of the present application, a position andorientation parameter determining unit 530 includes:

-   -   a comparing subunit 5310, configured to compare each of accuracy        probabilities of a plurality of second position and orientation        parameters with a preset threshold parameter;    -   a determining subunit 5320, configured to determine a second        position and orientation parameter having a highest accuracy        probability falling within a range of the preset threshold        parameter as a position and orientation parameter of the mobile        device when the current frame image is captured, when at least        one accuracy probability among the accuracy probabilities of the        plurality of second position and orientation parameters falls        within the range of the preset threshold parameter; and    -   a repositioning subunit 5330, configured to determine a third        position and orientation parameter of the mobile device when the        current frame image is re-captured, and start a positioning        operation based on the re-captured current frame image and the        third position and orientation parameter, when none of the        accuracy probabilities of the plurality of second position and        orientation parameters falls within the range of the preset        threshold parameter.

FIG. 11 shows a schematic structural diagram of a point cloud datadetermining module of a positioning apparatus of a mobile deviceaccording to yet still another exemplary embodiment of the presentapplication. The embodiment of the present application shown in FIG. 11is extended on the basis of the embodiment of the present applicationshown in FIG. 7. Differences between the embodiment shown in FIG. 11 andthe embodiment shown in FIG. 7 are mainly described below, andsimilarities are not described again.

As shown in FIG. 11, in the positioning apparatus of the mobile deviceaccording to the embodiment of the present application, a point clouddata determining module 300 includes:

-   -   a position parameter determining unit 310, configured to        determine a position parameter of a first position and        orientation parameter of the mobile device, the position        parameter indicating a geographic location of the mobile device        when the current frame image is captured; and    -   a point cloud data determining unit 320, configured to determine        point cloud data within a preset range of the geographic        location in a high-definition map as point cloud data within a        preset range of the geographic location of the mobile device        when the current frame image is captured.

It may be understood that in the positioning apparatuses of the mobiledevice according to FIGS. 7 to 11, operations and functions of the firstposition and orientation parameter determining module 100, the secondposition and orientation parameter determining module 200, the pointcloud data determining module 300, the second image coordinate setdetermining module 400 and the position and orientation parameterdetermining module 500, the position parameter determining unit 310 andthe point cloud data determining unit 320 included in the point clouddata determining module 300, the distance determining unit 510, theaccuracy probability determining unit 520 and the position andorientation parameter determining unit 530 included in the position andorientation parameter determining module 500, the attribute informationdetermining subunit 5110, the image coordinate determining subunit 5120and the distance data determining subunit 5130 included in the distancedetermining unit 510, and the comparing subunit 5310, the determiningsubunit 5320 and the repositioning subunit 5330 included in the positionand orientation parameter determining unit 530 may refer to thepositioning methods of the mobile device according to FIGS. 2 to 6. Theoperations and the functions are not to be repeated herein to avoidrepetition.

Exemplary Electronic Devices

Hereinafter, the electronic device of the positioning method of themobile device according to embodiments of the present application willbe described with reference to FIG. 12. FIG. 12 shows a schematicstructural diagram of an electronic device according to an exemplaryembodiment of the present application. As shown in FIG. 12, theelectronic device includes one or more processors 610 and a memory 620.

The processor 610 may be a Central Processing Unit (CPU) or another formof processing unit with data processing capability and/or instructionexecution capability, and may control another component in theelectronic device to perform an expected function.

The memory 620 may include one or more computer program products, whichmay include various forms of computer-readable storage media, such as avolatile memory and/or non-volatile memory. The volatile memory mayinclude, for example, a Random Access Memory (RAM) and/or a cache(cache). The non-volatile memory may include, for example, a Read-OnlyMemory (ROM), a hard disk, and a flash memory. The compute-readablestorage medium may store one or more computer program instructions, andthe processor 610 may run the program instructions to implement themethod for the positioning method of the mobile device and/or otherexpected functions of the embodiments in the present applicationdescribed above. The compute-readable storage medium may further storevarious types of content, such as a video image, a position andorientation parameter, a high-definition map, or the like.

In an example, the electronic device may further include an inputapparatus and an output apparatus, and these components areinterconnected by using a bus system and/or another form of connectionmechanism (not shown). Here, the input apparatus may include, but notlimited to, a keyboard and a mouse.

Certainly, for simplicity, only some of the components related to thepresent application in the electronic device are shown in FIG. 12, andcomponents such as a bus, and an input/output interface are omitted. Inaddition, the electronic device may further include any other suitablecomponent depending on a specific application case.

Exemplary Computer Program Products and Computer-Readable Storage Media

In addition to the foregoing methods and devices, an embodiment of thepresent application may also be a computer program product that includescomputer program instructions. When the computer program instructionsare run by a processor, the processor is enabled to perform the steps ofthe positioning method of the mobile device according to the embodimentsof the present application described in the “Exemplary Methods” part ofthis specification.

The computer program product may write program code for performing theoperations of the embodiments of the present application in anycombination of one or more programming languages, and the programminglanguages include object-oriented programming languages such as Java andC++, and further include conventional procedural programming languagessuch as “C” or similar programming languages. The program code may beexecuted entirely on a user computing device, partly on a user device,as a stand-alone software package, partly on a user computing devicewhile partly on a remote computing device, or entirely on a remotecomputing device or a server.

In addition, an embodiment of the present application may also be acomputer-readable storage medium, where the computer-readable storagemedium stores computer program instructions. When the computer programinstructions are run by a processor, the processor is enabled to performthe steps of the positioning method of the mobile device according tothe embodiments of the present application described in the “ExemplaryMethods” part of this specification.

The computer-readable storage medium may use any combination of one ormore readable media. The readable medium may be a readable signal mediumor a readable storage medium. The readable storage medium may include,for example, but not limited to, an electronic, magnetic, optical,electromagnetic, infrared, or semiconductor system, apparatus, or means,or any combination of the above. More specific examples (anon-exhaustive list) of the readable storage medium include: anelectrical connection having one or more wires, a portable computerdisk, a hard disk, a Random Access Memory (RAM), a Read-Only Memory(ROM), an Erasable Programmable Read-Only Memory (EPROM or a flashmemory), an optical fiber, a portable Compact Disk Read-Only Memory(CD-ROM), an optical storage means, a magnetic storage means, or anysuitable combination of the above.

The foregoing describes basic principles of the present application withreference to specific embodiments. However, it may be noted that themerits, advantages, effects, and the like mentioned in the presentapplication are merely examples but not limitations, and cannot beconsidered that these merits, advantages, effects, and the like areessential to the embodiments of the present application. In addition,the specific details disclosed above are intended only for the purposeof illustration and convenience of understanding, and are not limitedthereto, and are not intended to limit the present application to thespecific details described above.

The block diagrams of components, apparatuses, devices and systems inthe present application are merely illustrative examples and are notintended to require or imply that connections, arrangements andconfigurations must be performed in the manner shown in the blockdiagrams. As will be recognized by those skilled in the art, thesecomponents, apparatuses, devices and systems can be connected, arrangedand configured in any manner. Terms such as “comprise”, “include”,“have” are open words, meaning “include but not limited to”, and theycan be used interchangeably. Terms “or” and “and” used herein refer to“and/or”, and they can be used interchangeably unless the contextexpressly indicates otherwise. Term “such as” used herein refers to“such as but not limited to” and they can be used interchangeably.

It may also be noted that, in the apparatuses, devices and methods ofthe present application, components or steps can be decomposed and/orrecombined. These decompositions and/or recombination shall beconsidered as equivalent solutions of the present application.

The foregoing descriptions of the disclosed aspects are provided toenable any person skilled in the art to make or use the presentapplication. Modifications to these aspects are very obvious to thoseskilled in the art and the general principles defined herein can beapplied to other aspects without departing from the scope of the presentapplication. Therefore, the present application is not intended to belimited to the aspects shown herein, but to the widest extent consistentwith the principles and novel features disclosed herein.

The foregoing descriptions have been given for the purposes ofillustration and description. Furthermore, this description is notintended to limit the embodiments of the present application to the formdisclosed herein. Although several exemplary aspects and embodimentshave been discussed above, those skilled in the art will recognize someof their variations, modifications, changes, additions, andcombinations.

What is claimed is:
 1. A positioning method of a mobile device,comprising: determining a first position and orientation parameter of amobile device when a current frame image is captured, and determining astraight line corresponding to a preset sign in the current frame image;determining a plurality of second position and orientation parametersbased on the first position and orientation parameter; determining, in ahigh-definition map, point cloud data within a preset range of ageographic location of the mobile device when the current frame image iscaptured; converting, based on the plurality of second position andorientation parameters, the point cloud data within the preset rangeinto a pixel plane-coordinate system to obtain a plurality of secondimage coordinate sets; and determining, based on distances from imagecoordinates in the plurality of second image coordinate sets to thestraight line, a position and orientation parameter of the mobile devicewhen the current frame image is captured among the plurality of secondposition and orientation parameters.
 2. The method of claim 1, whereinthe determining a plurality of second position and orientationparameters based on the first position and orientation parametercomprises: determining, based on the first position and orientationparameter, the plurality of second position and orientation parametersin a manner of increasing and/or decreasing a preset step successively.3. The method of claim 1, wherein the converting, based on the pluralityof second position and orientation parameters, the point cloud datawithin the preset range into a pixel plane-coordinate system to obtain aplurality of second image coordinate sets comprises: projecting, basedon each of the plurality of second position and orientation parameters,the point cloud data within the preset range into the pixelplane-coordinate system, so as to obtain the plurality of second imagecoordinate sets corresponding to the plurality of second position andorientation parameters respectively.
 4. The method of claim 1, whereinthe determining, based on distances from image coordinates in theplurality of second image coordinate sets to the straight line, aposition and orientation parameter of the mobile device when the currentframe image is captured among the plurality of second position andorientation parameters comprises: determining, for each of the pluralityof second image coordinate sets, distances to the straight line fromimage coordinates, corresponding to the preset sign, in the second imagecoordinate set; determining, for each of the plurality of second imagecoordinate sets, an accuracy probability of the second position andorientation parameter corresponding to the second image coordinate setbased on a sum of the distances; and determining, based on the accuracyprobabilities of the plurality of second position and orientationparameters, the position and orientation parameter of the mobile devicewhen the current frame image is captured.
 5. The method of claim 4,wherein the determining, for each of the plurality of second imagecoordinate sets, distances to the straight line from image coordinates,corresponding to the preset sign, in the second image coordinate setcomprises: determining attribute information of the point cloud dataconverted into the plurality of second image coordinate sets;determining the image coordinates corresponding to the preset sign inthe plurality of second image coordinate sets according to the attributeinformation of the point cloud data; and determining, for each of thesecond image coordinate sets, the distances from the image coordinatescorresponding to the preset sign to the straight line.
 6. The method ofclaim 4, wherein the determining, based on the accuracy probabilities ofthe plurality of second position and orientation parameters, theposition and orientation parameter of the mobile device when the currentframe image is captured comprises: comparing each of the accuracyprobabilities of the plurality of second position and orientationparameters with a preset threshold parameter; and when at least oneaccuracy probability among the accuracy probabilities of the pluralityof second position and orientation parameters falls within a range ofthe preset threshold parameter, determining a second position andorientation parameter having a highest accuracy probability fallingwithin the range of the preset threshold parameter as the position andorientation parameter of the mobile device when the current frame imageis captured.
 7. The method of claim 6, further comprising: when none ofthe accuracy probabilities of the plurality of second position andorientation parameters falls within the range of the preset thresholdparameter, determining a third position and orientation parameter of themobile device when the current frame image is re-captured, and startinga positioning operation based on the re-captured current frame image andthe third position and orientation parameter.
 8. The method of claim 1,wherein the determining a first position and orientation parameter of amobile device when a current frame image is captured comprises:determining the first position and orientation parameter of the mobiledevice based on a historical position and orientation parameter or apreset position and orientation parameter of the mobile device.
 9. Themethod of claim 1, wherein the determining, in a high-definition map,point cloud data within a preset range of a geographic location of themobile device when the current frame image is captured comprises:determining a position parameter of the first position and orientationparameter of the mobile device, the position parameter indicating ageographic location of the mobile device when the current frame image iscaptured; and determining point cloud data within a preset range of thegeographic location in the high-definition map as the point cloud datawithin the preset range of the geographic location of the mobile devicewhen the current frame image is captured.
 10. An electronic device,comprising a memory, a processor, and a computer program stored in thememory and executed by the processor, wherein when the computer programis executed by the processor, the processor implements the followingsteps: determining a first position and orientation parameter of amobile device when a current frame image is captured, and determining astraight line corresponding to a preset sign in the current frame image;determining a plurality of second position and orientation parametersbased on the first position and orientation parameter; determining, in ahigh-definition map, point cloud data within a preset range of ageographic location of the mobile device when the current frame image iscaptured; converting, based on the plurality of second position andorientation parameters, the point cloud data within the preset rangeinto a pixel plane-coordinate system to obtain a plurality of secondimage coordinate sets; and determining, based on distances from imagecoordinates in the plurality of second image coordinate sets to thestraight line, a position and orientation parameter of the mobile devicewhen the current frame image is captured among the plurality of secondposition and orientation parameters.
 11. The electronic device of claim10, wherein the determining a plurality of second position andorientation parameters based on the first position and orientationparameter comprises: determining, based on the first position andorientation parameter, the plurality of second position and orientationparameters in a manner of increasing and/or decreasing a preset stepsuccessively.
 12. The electronic device of claim 10, wherein theconverting, based on the plurality of second position and orientationparameters, the point cloud data within the preset range into a pixelplane-coordinate system to obtain a plurality of second image coordinatesets comprises: projecting, based on each of the plurality of secondposition and orientation parameters, the point cloud data within thepreset range into the pixel plane-coordinate system, so as to obtain theplurality of second image coordinate sets corresponding to the pluralityof second position and orientation parameters respectively.
 13. Theelectronic device of claim 10, wherein the determining, based ondistances from image coordinates in the plurality of second imagecoordinate sets to the straight line, a position and orientationparameter of the mobile device when the current frame image is capturedamong the plurality of second position and orientation parameterscomprises: determining, for each of the plurality of second imagecoordinate sets, distances to the straight line from image coordinates,corresponding to the preset sign, in the second image coordinate set;determining, for each of the plurality of second image coordinate sets,an accuracy probability of the second position and orientation parametercorresponding to the second image coordinate set based on a sum of thedistances; and determining, based on the accuracy probabilities of theplurality of second position and orientation parameters, the positionand orientation parameter of the mobile device when the current frameimage is captured.
 14. The electronic device of claim 13, wherein thedetermining, for each of the plurality of second image coordinate sets,distances to the straight line from image coordinates, corresponding tothe preset sign, in the second image coordinate set comprises:determining attribute information of the point cloud data converted intothe plurality of second image coordinate sets; determining the imagecoordinates corresponding to the preset sign in the plurality of secondimage coordinate sets according to the attribute information of thepoint cloud data; and determining, for each of the second imagecoordinate sets, the distances from the image coordinates correspondingto the preset sign to the straight line.
 15. The electronic device ofclaim 13, wherein the determining, based on the accuracy probabilitiesof the plurality of second position and orientation parameters, theposition and orientation parameter of the mobile device when the currentframe image is captured comprises: comparing each of the accuracyprobabilities of the plurality of second position and orientationparameters with a preset threshold parameter; and determining a secondposition and orientation parameter having a highest accuracy probabilityfalling within the range of the preset threshold parameter as theposition and orientation parameter of the mobile device when the currentframe image is captured, when at least one accuracy probability amongthe accuracy probabilities of the plurality of second position andorientation parameters falls within a range of the preset thresholdparameter.
 16. The electronic device of claim 15, wherein thedetermining, based on the accuracy probabilities of the plurality ofsecond position and orientation parameters, the position and orientationparameter of the mobile device when the current frame image is capturedcomprises: determining a third position and orientation parameter of themobile device when the current frame image is re-captured, and startinga positioning operation based on the re-captured current frame image andthe third position and orientation parameter, when none of the accuracyprobabilities of the plurality of second position and orientationparameters falls within the range of the preset threshold parameter. 17.The electronic device of claim 10, wherein when the determining a firstposition and orientation parameter of a mobile device when a currentframe image is captured comprises: determining the first position andorientation parameter of the mobile device based on a historicalposition and orientation parameter or a preset position and orientationparameter of the mobile device.
 18. The electronic device of claim 10,wherein the determining, in a high-definition map, point cloud datawithin a preset range of a geographic location of the mobile device whenthe current frame image is captured comprises: determining a positionparameter in the first position and orientation parameter of the mobiledevice, the position parameter indicating a geographic location of themobile device when the current frame image is captured; and determiningpoint cloud data within a preset range of the geographic location in thehigh-definition map as the point cloud data within the preset range ofthe geographic location of the mobile device when the current frameimage is captured.
 19. A computer readable storage medium storing acomputer program for executing the positioning method of the mobiledevice comprising: determining a first position and orientationparameter of a mobile device when a current frame image is captured, anddetermining a straight line corresponding to a preset sign in thecurrent frame image; determining a plurality of second position andorientation parameters based on the first position and orientationparameter; determining, in a high-definition map, point cloud datawithin a preset range of a geographic location of the mobile device whenthe current frame image is captured; converting, based on the pluralityof second position and orientation parameters, the point cloud datawithin the preset range into a pixel plane-coordinate system to obtain aplurality of second image coordinate sets; and determining, based ondistances from image coordinates in the plurality of second imagecoordinate sets to the straight line, a position and orientationparameter of the mobile device when the current frame image is capturedamong the plurality of second position and orientation parameters.